Background of the invention
[0001] The invention relates to a drilling boom of a rock drilling rig. The drilling boom
is provided with a feed beam assembly comprising a rock drilling machine for drilling
blast holes or bolting holes to rock surfaces. The boom comprises several joints allowing
the rock drilling machine to be positioned into planned drilling positions.
[0002] The invention further relates to a rock drilling rig.
[0003] The field of the invention is defined more specifically in the preambles of the independent
claims.
[0004] In mines and at other work sites different type of rock drilling rigs are used. The
rock drilling rigs are provided with one or more booms and rock drilling units are
arranged at distal ends of the booms. The rock drilling unit comprises a feed beam
along which a rock drilling machine is configured to be moved during the drilling
procedure. The drilling boom comprises several joints allowing the rock drilling machine
to be positioned to a desired drilling point for drilling drill holes for blasting
or support purposes. However, the present drilling booms contain some disadvantages
regarding their kinematics and ability to reach the desired drilling positions.
Brief description of the invention
[0005] An object of the invention is to provide a novel and improved drilling boom and a
rock drilling rig equipped with such drilling boom.
[0006] The drilling boom according to the invention is characterized by the characterizing
features of the first independent apparatus claim.
[0007] The rock drilling rig according to the invention is characterized by the characterizing
features of the second independent apparatus claim.
[0008] An idea of the disclosed solution is that the drilling boom comprises a basic boom
part or arm which is an elongated object a first end of which is connectable to a
carrier of a rock drilling rig. At a second end of the arm is a front joint arrangement
or wrist, which connects a feed beam assembly to the arm. The feed beam assembly may
be a face drilling unit or a bolting head, and comprises at least a feed beam and
a rock drilling machine supported on the feed beam. The drilling boom comprises several
joints and boom actuators for positioning the drilling machine and a drilling tool
connectable to it into the planned drilling positions and directions. The wrist has
three successive joints, which are located proximate to each other. The joints are
arranged in a certain order. A roll-over joint is closest to the arm and is followed
by a feed tilt joint. A feed swing joint is closest to the feed beam assembly. Thus,
executable movements of the wrist are arranged in an optimized order: roll-over -
tilt - swing.
[0009] An advantage of the disclosed solution is that the front joint assembly or wrist
offers improved reach properties. The feed beam assembly, which may be a face drilling
unit or a bolting head, may be positioned to challenging blast hole and rock bolt
hole positions which are located close to walls, roof and floor of a tunnel or rock
cavity.
[0010] The disclosed wrist also allows new movements and drilling orientations for the face
drilling unit and also for the bolter head. The face drilling unit may be directed
perpendicular relative to driving direction of the rock drilling rig, whereby it allows
drilling crosscuts. Regarding the bolting implementation, the wrist solution allows
directing the bolting head also directly forward i.e. in the driving direction, whereby
face bolting is also possible. Thanks to these new allowed drilling directions the
drilling boom may be utilized in a more effective way.
[0011] One additional use case enabled by the new wrist is that the face drilling unit and
the bolting head may be turned backwards towards a carrier of a drilling jumbo or
bolting rig. Then drill bits and other drilling tools, as well as bolting equipment,
can be changed and loaded in a convenient and safe manner close to the carrier.
[0012] A further advantage of the disclosed solution is that the same front joint assembly
or wrist is suitable for face drilling booms intended for tunneling and for fan drilling
booms intended for rock bolting. Thus, the present boom and wrist solution may be
implemented for carrying face drilling units of tunneling jumbos as well as bolting
heads of bolters. This is of course beneficial for the manufacture, service and overall
cost-efficiency.
[0013] According to an embodiment, the first end of the basic boom part or arm is provided
with a rear joint assembly. The assembly comprises a swing joint for turning the drilling
boom laterally relative to the rock drilling rig. The assembly further comprises a
lift joint for turning the drilling boom vertically. Thus, the rear joint assembly
provides the drilling boom with 2 degrees of freedom (2DOF) .
[0014] According to an embodiment, the first end of the drilling boom is connected to a
mounting plate by means of the rear joint assembly. The mounting plate is provided
with fastening elements for fastening it to the carrier of the rock drilling rig.
The mounting plate facilitates mounting of the drilling booms to different kind carriers
and provides proper support for the drilling boom.
[0015] According to an embodiment, between the first and second end of the basic boom part
or arm is a linear joint whereby the basic boom part is extendable in the longitudinal
direction. The linear joint is the only joint between the first and second end of
the basic boom part. In other words, the arm is without any turnable or rotational
joints between the first and second end. Then the basic boom part may have a relatively
simple, durable and light weight structure between its end portions, and still, the
joint arrangements at its both ends and the linear zoom joint between them ensure
good reach and versatile drilling positions and directions. The arm has totally three
degrees of freedom (3DOF), namely the swing, lift and zoom.
[0016] According to an embodiment, the turning axis of the roll-over joint is located on
the longitudinal axis of the basic boom part. In other words, the turning axis and
the longitudinal axis are concentric. Thanks to this embodiment, mounting of the roll-over
joint is facilitated and loadings directed to the joint are well controlled.
[0017] According to an embodiment, the turning axis of the feed tilt joint is located closer
to the roll over joint than the feed swing joint when seen in longitudinal direction
of the basic boom part. In other words, distance between the turning axis of the feed
tilt joint and the roll over joint is minor than distance between the turning axis
of the feed tilt joint and the feed swing joint. It has been noted that when the feed
tilt joint is located proximate to the roll-over joint, improved reach properties
can be achieved and collisions between the basic boom part and the feed beam assembly
can be better avoided.
[0018] According to an embodiment, extensions of the turning axis of the feed tilt joint
and the turning axis of the feed swing joint do not cross. Between the feed tilt joint
and the feed swing joint may be a physical connecting element, whereby the joints
are at a distance from each other. Distance between the turning axis of the feed tilt
joint and the turning axis of the feed swing joint may 200 - 300 mm. Between the feed
tilt joint and the feed swing joint may be a physical connecting element, whereby
the joints are at a distance from each other.
[0019] According to an embodiment, the feed tilt joint and the feed swing joint are located
on opposite sides of the turning axis of the roll-over joint. When the drilling boom
is in its normal position the turning axis of the feed tilt joint is located vertically
below the turning axis of the roll-over joint.
[0020] According to an embodiment, orientation of the feed beam of the feed beam assembly
is parallel to the turning axis of the feed swing joint. In other words, drilling
direction of the drilling machine supported to the feed beam is parallel to the axis
of the last joint of the front joint arrangement. This embodiment is a main implementation
in bolting.
[0021] According to an embodiment, orientation of the feed beam of the feed beam assembly
is perpendicular to the turning axis of the feed swing joint. In other words, drilling
direction of the drilling machine supported to the feed beam is perpendicular to axis
of the last joint of the front joint arrangement. This embodiment is a main implementation
for face drilling jumbos and tunneling.
[0022] According to an embodiment, magnitudes of angles of movements of both the roll-over
joint and the feed swing joint is 360°. The feed tilt joint is turnable at least 180°.
[0023] According to an embodiment, the structure of the front joint arrangement is symmetric
relative to the longitudinal axis of the basic boom part. An advantage of this feature
is that the same drilling boom is usable either as a left or a right hand boom of
the rock drilling rig.
[0024] According to an embodiment, the boom actuators are hydraulic actuators such as hydraulic
cylinders and motors. The hydraulic actuators are advantageous since they allow great
forces and still provide accurate movement control.
[0025] According to an embodiment, boom actuators of the roll-over joint and the feed swing
joint are hydraulic motors and the feed tilt joint is moved by means of one or more
hydraulic cylinders.
[0026] According to an embodiment, the rock drilling machine defines a drill center which
is parallel to the longitudinal direction of the feed beam and on which drill center
a drilling tool is rotated during drilling. The drill center has a drill center height
which is a transverse distance measured to the turning axis of the roll-over joint.
The drill center height is at least 1000 mm. This provides improved reach properties
and prevents collisions between a rear end of the feed beam and the basic boom part.
[0027] According to an embodiment, in a bolting implementation the feed beam assembly may
comprises a handling device for moving reinforcing bolts between a bolt storage and
drilling axis of a rock drilling machine. Further, when the bolting head is turnable
backwards the bolt storage may be located at a front part of the carrier.
[0028] Further, the invention disclosed in this patent application may also relate to a
new and improved method of controlling boom kinematics enabled by the disclosed new
boom configuration. The method according to the invention is characterized by the
features and steps disclosed in the description.
[0029] The above disclosed embodiments may be combined in order to form suitable solutions
having those of the above features that are needed.
Brief description of the figures
[0030] Some embodiments are described in more detail in the accompanying drawings, in which
Figure 1 is a schematic side view of a rock drilling rig for underground drilling
and being provided with a drilling boom equipped with a face drilling unit,
Figure 2 is a schematic and highly simplified side view of a drilling boom and movements
of the front joint assembly,
Figures 3 and 4 are schematic views of the drilling boom of Figure 2 in different
positions,
Figure 5a is a schematic side view of a drilling boom intended for face drilling,
and Figures 5b and 5c show that the drilling unit may be turned to face in cross and
backward directions, and
Figure 6a is a schematic side view of a drilling boom intended for rock bolting purposes
and Figure 6b shows a principle of a face bolting option.
[0031] For the sake of clarity, the figures show some embodiments of the disclosed solution
in a simplified manner. In the figures, like reference numerals identify like elements.
Detailed description of some embodiments
[0032] Figure 1 shows a rock drilling rig 1 intended for face drilling in a tunnelling process.
The rock drilling rig 1 comprises a movable carrier 2 and one or more drilling booms
3 connected to the carrier 2. When the drilling rig comprises several drilling booms,
it is typically called a drilling jumbo. The drilling boom 3 comprises a basic boom
part BB which is an elongated structure and a first end BB1 of which is connected
movably to the carrier. At a distal second end portion of the basic boom part BB2
is a feed beam assembly FBA. The feed beam assembly FBA may comprise a feed beam 5
and a rock drilling machine 6 supported on it. The rock drilling machine 6 may comprise
a shank at a front end of the rock drilling machine 6 for connecting a tool 7. The
feed beam assembly FBA is connected to the second end of the basic beam part BB2 by
means of a front joint arrangement 8, which may be also called as a wrist. As it is
shown in Figure 1, the drilling boom 3 may have six degrees of freedom S1, L, Z, RO,
T, S2 allowing the rock drilling machine 6 and the drilling tool 7 to be positioned
in different drilling positions and directions.
[0033] At the first end BB1 of the basic boom part BB may be a vertical swing joint 9 so
that the entire drilling boom 3 may be turned laterally, i.e. allowing first swing
movement S1. The first end BB1 may further comprise a horizontal lift joint 10 for
lifting L the drilling boom 3. The basic boom part BB may also be provided with a
linear joint 12 for extending and shortening purpose. In other words, the basic boom
part BB may have a so called zoom movement Z. Thus, the basic boom part BB may comprise
the mentioned three joints 9, 10 and 12.
[0034] At the first end BB1 may be a rear joint assembly 13 comprising a mounting plate
13a and the mentioned joints 9 and 10. The drilling boom 3 may be connected to the
carrier 2 by means of the mounting plate 13a provided with fastening elements. The
basic boom part BB may be without any turnable or rotational joints between the rear
joint assembly 13 and the front joint assembly 8. In other words, the linear joint
12 may be the only joint between the end portions of the basic boom part BB.
[0035] Typically the rock drilling machine 6 and actuators of the drilling boom 3 are hydraulically
operable. For simplicity reasons only one boom actuator 14 is shown in Figure 1. The
boom actuators may be hydraulic cylinders, motors or other devices operating by means
of hydraulic power.
[0036] The front joint arrangement 8 or wrist comprises three successive joints, which are
located between the second end BB2 of the basic boom BB and the feed beam assembly
FBA. This means that the three successive joints are physically close to each other.
The front joint arrangement 8 is thereby a compact joint system allowing roll-over
movement RO, tilt movement T and swing movement S2. Respective joints of the front
joint arrangement 8 are arranged in the corresponding order RO-T-S2 as it is disclosed
more specifically in the following Figures.
[0037] Figure 2 discloses that the wrist 8 between the basic boom part BB and the feed beam
assembly FBA comprises a roll over joint 15, an input link 15a of which is connected
to the end portion of the basic boom part BB. An input link 16a of a feed tilt joint
16 is connected to the an output link 15b of the roll over joint 15, and further,
an input link 17a of a feed swing joint 17 is connected to an output link 16b of the
feed tilt joint 16. The feed beam assembly FBA is connected to an output link 17b
of the feed swing joint 17.
[0038] Turning axis 18 of the roll over joint 15 may be concentric with longitudinal axis
19 of the basic boom part BB. The input link 15a of the roll over joint 15 may be
connected directly on extension of the basic boom part BB. Turning axis 20 of the
following feed tilt joint 16 is perpendicular to the turning axis 18 of the roll over
joint 15, and further, turning axis 21 of the feed swing joint 17 is perpendicular
to the turning axis 20 of the feed tilt joint 16. The turning axis 18, 20, 21 are
illustrated in Figures 3 and 4.
[0039] Figure 3 discloses the wrist 8 when the feed tilt joint 16 is turned 90° whereby
the feed beam assembly FBA is moved above a center line of the basic beam part BB.
Turning range of the feed tilt joint 16 may be at least 180° whereby the basic feed
beam assembly may also be turned below the center line. The roll over joint 15 and
the feed swing joint 17 may be both rotatable 360°.
[0040] Figure 4 shows the wrist 8 of Figure 3 seen in a direction of an arrow B and in operational
situation wherein the roll-over joint 15 has been turned for a limited angular magnitude
relative to the turning axis 18.
[0041] Figure 5a discloses a solution suitable for face drilling devices. Orientation of
the feed beam 5 of the feed beam assembly FBA is perpendicular to the feed swing joint
17. Then longitudinal axis 22 of the feed beam and drilling direction of the rock
drilling machine 6 are in orthogonal direction relative to the turning axis 21 of
the feed swing joint 17. The feed beam assembly FBA comprises a cradle 23, which connects
the the feed beam 5 and the feed swing joint 17. Further, between the feed tilt joint
16 and the feed swing joint 16 may be a connecting element 24 for providing a distance
between the turning axis 20 of the feed tilt joint 16 and the turning axis 21 of the
feed swing joint 17. Then extensions of the turning axis 20, 21 do not cross and the
feed tilt joint 16 may be as close as possible to the roll-over joint 16. Figure 5a
shows the drilling boom 3 and its front joint assembly FBA is its normal position.
Then the feed tilt joint 16 is located vertically below the turning axis 18 of the
roll-over joint 15. The feed tilt joint 16 and the feed swing joint 17 are on opposite
sides of the turning axis 18 of the roll-over joint 15.
[0042] Figure 5a further discloses that a transverse drill center height dch between the
drill center DC and the turning axis 18 of the roll-over joint 15 may be arranged
to be at least 1000 mm in order to improve coverage of the drilling boom 3 and to
avoid collisions between the feed beam 5 and the basic boom part BB.
[0043] Figure 5b shows in a simplified manner that the feed beam assembly FBA can be turned
relative to the last joint 17 so that drilling is possible also in cross direction.
[0044] Figure 5c discloses that the feed beam assembly FBA can be turned to face in backward
direction. Then changing of drilling tools is facilitated. On a front portion of the
carrier 2 may be a storage 25 for storing drill bits and other drilling tools. The
drilling tools may be handled and changed by means of a tool handling device 26 which
may also be located on the carrier 2. The drilling boom 3 may be without any tool
magazine whereby the drilling boom may be lighter in weight.
[0045] Figure 6 discloses a rock bolting implementation of the disclosed drilling boom solution.
The drilling boom 3 may have a structure which is otherwise similar than the one shown
in Figure 5a but in the bolting head the feed beam 5 is orientated parallel to the
turning axis 21 of the feed swing joint 17. The feed beam assembly FBA may be provided
with a rock bolt storage and handling device 26 for feeding rock bolts into the drilled
holes. By actuating the roll-over joint 15 and the feed tilt joint 16 the feed beam
assembly FBA may also be directed towards a driving surface A allowing face bolting
shown in Figure 6b.
[0046] The drawings and the related description are only intended to illustrate the idea
of the invention. In its details, the invention may vary within the scope of the claims.
1. A drilling boom (3) of a rock drilling rig (1) comprising:
an elongated basic boom part (BB) comprising a first end (BB1), which is connectable
movably to a carrier (2) of the rock drilling rig (1), and a distal second end (BB2);
a feed beam assembly (FBA) comprising at least a feed beam (5) for supporting a rock
drilling machine (6), and which feed beam assembly (FBA) is located at the second
end (BB2) of the basic boom part (BB);
a front joint arrangement (8) which is located between the second end (BB2) of the
basic boom part (BB) and the feed beam assembly (FBA) and comprises three successive
and proximate front joints, a first front joint connected to the basic boom part (BB),
a third front joint connected to the feed beam assembly (FBA) and a second front joint
being located between the first and third joint; and
several boom actuators (14) for moving the drilling boom (3) and the feed beam assembly
(FBA);
characterized in that
the first front joint is a roll-over joint (15) turning axis (18) of which is parallel
to longitudinal axis (19) of the basic boom part (BB);
the second front joint is a feed tilt joint (16) turning axis (20) of which is perpendicular
to the turning axis (18) of the roll-over joint (15); and
the third front joint is a feed swing joint (17) turning axis (21) of which is perpendicular
to the turning axis (20) of the feed tilt joint (16).
2. The drilling boom as claimed in claim 1, characterized in that
the first end (BB1) of the basic boom part (BB) is provided with a rear joint assembly
(13)comprising a swing joint (9) for turning the drilling boom (3) laterally relative
to the rock drilling rig (1) and a lift joint (10) for turning the drilling boom (3)
vertically.
3. The drilling boom as claimed in claim 1 or 2, characterized in that
the turning axis (18) of the roll-over joint (15) is located on the longitudinal axis
(19) of the basic boom part (BB), whereby the turning axis (18) and the longitudinal
axis (19) are concentric.
4. The drilling boom as claimed in any one of the preceding claims 1 - 3, characterized in that
the turning axis (20) of the feed tilt joint (16) is located closer to the roll over
joint (15) than the feed swing joint (17) when seen in longitudinal direction of the
basic boom part (BB).
5. The drilling boom as claimed in any one of the preceding claims 1 - 4, characterized in that
the feed tilt joint (16) and the feed swing joint (17) are located on opposite sides
of the turning axis (18) of the roll-over joint (15).
6. The drilling boom as claimed in any one of the preceding claims 1 - 5, characterized in that
orientation of the feed beam (5) of the feed beam assembly (FBA) is parallel to the
turning axis (21) of the feed swing joint (17).
7. The drilling boom as claimed in any one of the preceding claims 1 - 5, characterized in that
orientation of the feed beam (5) of the feed beam assembly (FBA) is perpendicular
to the turning axis (21) of the feed swing joint (17).
9. The drilling boom as claimed in any one of the preceding claims 1 - 8, characterized in that
the basic boom part (BB) is without any turnable or rotational joints between the
first and second end (BB1, BB2) .
10. The drilling boom as claimed in any one of the preceding claims 1 - 9, characterized in that
the structure of the front joint arrangement (8) is symmetric relative to the longitudinal
axis (19) of the basic boom part (BB), whereby the drilling boom (3) is implementable
either as a left or a right hand boom of the rock drilling rig (1).
11. The drilling boom as claimed in any one of the preceding claims 1 - 10, characterized in that
the boom actuators (14) are hydraulic actuators.
12. A rock drilling rig (1), comprising:
a movable carrier (2);
at least one drilling boom (3) connected movably to the carrier (2) and equipped with
a feed beam assembly (FBA) with a feed beam (5);
a rock drilling machine (6) supported to the feed beam (5) ;
and wherein the drilling boom (3) comprises several boom joints and boom actuators
(14) for orientating and positioning a drilling tool (7) connectable to the rock drilling
machine (6) to drilling points at a drilling site;
characterized in that
the drilling boom (3) is in accordance with the previous claims 1 - 11, wherein the
drilling boom (3) comprises the mentioned front joint arrangement(8) with the three
successive joints: the roll-over joint (15), the feed tilt joint (16) and the feed
swing joint (17).
13. The rock drilling rig as claimed in claim 12, characterized in that
the rock drilling machine (6) defines a drill center (DC) which is parallel to the
longitudinal direction of the feed beam (5) and on which drill center (DC) a drilling
tool (7) is rotated during drilling;
the drill center (DC) has a drill center height (dch) which is a transverse distance
measured to the turning axis (18) of the roll-over joint (15); and
the drill center height (dch) is at least 1000 mm.